Related papers: Complementary Filtering on SO(3) for Attitude Esti…
Relative pose estimation is a fundamental problem in computer vision and it has been studied for conventional global shutter cameras for decades. However, recently, a rolling shutter camera has been widely used due to its low cost imaging…
It is quite often claimed, and correctly so, that linear methods cannot achieve global stability results for attitude control, and conversely that nonlinear control is essential in order to achieve (almost) globally stable tracking of…
Robotic in-hand manipulation requires reliable object-motion tracking under frequent visual occlusion, yet low-texture visuotactile images provide few stable correspondences for conventional image- or geometry-matching methods. This paper…
In this work we solve the position-aided 3D navigation problem using a nonlinear estimation scheme. More precisely, we propose a nonlinear observer to estimate the full state of the vehicle (position, velocity, orientation and gyro bias)…
Wavefront sensing is a set of techniques providing efficient means to ascertain the shape of an optical wavefront or its deviation from an ideal reference. Due to its wide dynamical range and high optical efficiency, the Shack-Hartmann is…
Most of existing correlation filter-based tracking approaches only estimate simple axis-aligned bounding boxes, and very few of them is capable of recovering the underlying similarity transformation. To tackle this challenging problem, in…
This paper presents a novel end-to-end deep learning framework for real-time inertial attitude estimation using 6DoF IMU measurements. Inertial Measurement Units are widely used in various applications, including engineering and medical…
We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…
Adaptive optics normally concerns the feedback correction of phase aberrations. Such correction has been of benefit in various optical systems, with applications ranging in scale from astronomical telescopes to super-resolution microscopes.…
This paper addresses the problem of Visual-Inertial Odometry (VIO) for rigid body systems evolving in three-dimensional space. We introduce a novel matrix Lie group structure, denoted SE_{3+n}(3), that unifies the pose, gravity, linear…
Monocular visual-inertial odometry (VIO) cannot recover metric scale from vision alone; scale must be resolved through inertial measurements. We present a trajectory-dependent observability analysis showing that translational acceleration,…
This paper proposes to use the three vectors in a rotation matrix as the representation in head pose estimation and develops a new neural network based on the characteristic of such representation. We address two potential issues existed in…
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…
This paper introduces an approach for multi-human 3D pose estimation and tracking based on calibrated multi-view. The main challenge lies in finding the cross-view and temporal correspondences correctly even when several human pose…
In this paper, a generalized differentiation-integration observer is presented based on sensors selection. The proposed differentiation-integration observer can estimate the multiple integrals and high-order derivatives of a signal,…
We propose a new central synergistic hybrid approach for global exponential stabilization on the Special Orthogonal group SO(3). We introduce a new switching concept relying on a central family of (possibly) non-differentiable potential…
This article develops and proposes a geometric nonlinear proportional-integral-derivative (PID) type tracking control scheme on the Lie group of rigid body rotations, SO(3). Like PD-type attitude tracking control schemes that have been…
In various applications of land vehicle navigation and automatic guidance systems, Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) positioning performance crucially depends on the attitude determination accuracy…
The problem of effectively combining data with a mathematical model constitutes a major challenge in applied mathematics. It is particular challenging for high-dimensional dynamical systems where data is received sequentially in time and…
This paper investigates joint direction-of-arrival (DOA) and attitude sensing using tri-polarized continuous aperture arrays (CAPAs). By employing electromagnetic (EM) information theory, the spatially continuous received signals in…